An H∞ approach to decoupling control design

This paper proposes a systematic method for the design of a general multivariable controller aiming at obtaining good loop performance and small loop couplings. In detail, it applies the H_∞ formulation to each equivalent loop to design the diagonal elements of the controller. Then the off-diagonal elements of the controller are consequently obtained through solving a Hankel approximation problem. The stability is analyzed and simulations show that very good control effects can be achieved.